We study inner-loop power control for mobile wireless communication systems using code division multiple access transmission. We focus on the uplink, i.e., on communication from the mobile- to the base-station, and show how to minimise the variance of the signal-to-interference ratio (SIR) tracking error through incorporation of recursive filters. These filters complement existing power controllers and are designed by using a linear model which takes into account quantisation of the power control signal, dynamics of channel gains, interference from other users, target SIR, and SIR estimation errors. Simulation results indicate that significant performance gains can be obtained, even in situations where the models used for design are only an approximation.